TWI577514B - Robot control system - Google Patents

Robot control system Download PDF

Info

Publication number
TWI577514B
TWI577514B TW103145328A TW103145328A TWI577514B TW I577514 B TWI577514 B TW I577514B TW 103145328 A TW103145328 A TW 103145328A TW 103145328 A TW103145328 A TW 103145328A TW I577514 B TWI577514 B TW I577514B
Authority
TW
Taiwan
Prior art keywords
control
motor
power
servo motor
power regeneration
Prior art date
Application number
TW103145328A
Other languages
English (en)
Chinese (zh)
Other versions
TW201538292A (zh
Inventor
Tsuyoshi Tagashira
Koji Muneto
Original Assignee
Kawasaki Heavy Ind Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Ind Ltd filed Critical Kawasaki Heavy Ind Ltd
Publication of TW201538292A publication Critical patent/TW201538292A/zh
Application granted granted Critical
Publication of TWI577514B publication Critical patent/TWI577514B/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M5/00—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/40—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC
    • H02M5/42—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters
    • H02M5/44—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC
    • H02M5/453—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M5/458—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M5/4585—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more AC dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/24—Arrangements for stopping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40462—Constant consumed energy, regenerate acceleration energy during deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41294—DC-to-AC converter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Fuzzy Systems (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Ac Motors In General (AREA)
  • Manipulator (AREA)
  • Inverter Devices (AREA)
TW103145328A 2013-12-26 2014-12-24 Robot control system TWI577514B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013270299A JP5813746B2 (ja) 2013-12-26 2013-12-26 ロボット制御システム

Publications (2)

Publication Number Publication Date
TW201538292A TW201538292A (zh) 2015-10-16
TWI577514B true TWI577514B (zh) 2017-04-11

Family

ID=53478610

Family Applications (1)

Application Number Title Priority Date Filing Date
TW103145328A TWI577514B (zh) 2013-12-26 2014-12-24 Robot control system

Country Status (7)

Country Link
US (1) US9979327B2 (de)
EP (1) EP3090841B1 (de)
JP (1) JP5813746B2 (de)
KR (2) KR20160119078A (de)
CN (1) CN106103008B (de)
TW (1) TWI577514B (de)
WO (1) WO2015098753A1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9800188B2 (en) * 2015-09-15 2017-10-24 Regal Beloit America, Inc. Hybrid drive circuit for variable speed induction motor
US10193488B2 (en) * 2016-01-14 2019-01-29 Regal Beloit America, Inc. Methods and systems for reducing conducted electromagnetic interference
JP6998115B2 (ja) * 2017-02-27 2022-01-18 川崎重工業株式会社 ロボットコントローラ
DE102017009878A1 (de) * 2017-10-23 2019-04-25 Kuka Deutschland Gmbh Steuerungssystem und Verfahren zum Betreiben eines elektrischen Motors
JP2019093459A (ja) * 2017-11-20 2019-06-20 セイコーエプソン株式会社 ロボット
JP7152238B2 (ja) * 2018-10-03 2022-10-12 川崎重工業株式会社 ロボット制御装置
JP6865262B2 (ja) * 2018-12-26 2021-04-28 川崎重工業株式会社 ロボットシステムの制御装置
WO2022185104A1 (en) * 2021-03-05 2022-09-09 Abb Schweiz Ag Systems and methods for reducing electromagnetic interference in robotic devices

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60191979A (ja) * 1984-03-11 1985-09-30 三菱電機株式会社 エレベ−タ用電動機制御装置
JPH11289793A (ja) * 1998-03-31 1999-10-19 Sumitomo Heavy Ind Ltd 高調波抑制型電源回生コンバータを備えた電動射出成形機
JP2000201492A (ja) * 1998-12-28 2000-07-18 Ishikawajima Transport Machinery Co Ltd 電動機の駆動方法及び装置
JP2011161612A (ja) * 2010-02-15 2011-08-25 Denso Wave Inc ロボットシステム
JP2013102611A (ja) * 2011-11-08 2013-05-23 Fanuc Ltd 産業用ロボットの可動部の回転軸に接続されたサーボモータを駆動するサーボモータ駆動装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1067001A (zh) * 1991-05-20 1992-12-16 中国航空航天工具协会 平面磨床用组合导磁夹具元件系统及其加工检测方法
JPH08216075A (ja) * 1995-02-16 1996-08-27 Toshiba Corp マニピュレータ制御装置
US5994864A (en) * 1995-09-11 1999-11-30 Kabushiki Kaisha Yaskawa Denki Robot controller
CN1601885A (zh) * 2003-09-25 2005-03-30 乐金电子(天津)电器有限公司 Bldc电机的控制旋转速度用的f/g脉冲转换装置
CN101004932A (zh) * 2007-01-12 2007-07-25 明基电通信息技术有限公司 主轴马达速度反馈信号侦测装置与方法及其光驱
KR20110039972A (ko) * 2009-10-13 2011-04-20 (주)인텍에프에이 기판 이송용 로봇 제어 시스템
JP5043915B2 (ja) 2009-11-04 2012-10-10 山洋電気株式会社 モータ駆動用電源装置
CN102424075B (zh) * 2011-11-22 2013-01-23 北京邮电大学 基于平衡杆控制的刚柔耦合走钢丝机器人
JP5857845B2 (ja) 2012-03-29 2016-02-10 株式会社デンソーウェーブ ロボットシステム
JP2013220478A (ja) * 2012-04-12 2013-10-28 Jtekt Corp 機械装置間の電力回生方法及び機械装置間の電力回生システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60191979A (ja) * 1984-03-11 1985-09-30 三菱電機株式会社 エレベ−タ用電動機制御装置
JPH11289793A (ja) * 1998-03-31 1999-10-19 Sumitomo Heavy Ind Ltd 高調波抑制型電源回生コンバータを備えた電動射出成形機
JP2000201492A (ja) * 1998-12-28 2000-07-18 Ishikawajima Transport Machinery Co Ltd 電動機の駆動方法及び装置
JP2011161612A (ja) * 2010-02-15 2011-08-25 Denso Wave Inc ロボットシステム
JP2013102611A (ja) * 2011-11-08 2013-05-23 Fanuc Ltd 産業用ロボットの可動部の回転軸に接続されたサーボモータを駆動するサーボモータ駆動装置

Also Published As

Publication number Publication date
JP2015123554A (ja) 2015-07-06
TW201538292A (zh) 2015-10-16
EP3090841A1 (de) 2016-11-09
KR102239951B1 (ko) 2021-04-13
JP5813746B2 (ja) 2015-11-17
EP3090841A4 (de) 2017-12-13
KR20180120779A (ko) 2018-11-06
EP3090841B1 (de) 2025-03-19
CN106103008B (zh) 2018-07-27
US20160329841A1 (en) 2016-11-10
KR20160119078A (ko) 2016-10-12
WO2015098753A1 (ja) 2015-07-02
CN106103008A (zh) 2016-11-09
US9979327B2 (en) 2018-05-22

Similar Documents

Publication Publication Date Title
TWI577514B (zh) Robot control system
JP5260719B2 (ja) 停電の有無を判定する停電判定部を有するモータ駆動装置
JP5638043B2 (ja) アラームレベル設定部を有するモータ駆動装置
JP5444304B2 (ja) 無効電流指令作成部を有するモータ駆動装置
US9960721B2 (en) Motor control device provided with power failure management
JP5670505B2 (ja) 停電判定手段を有するモータ制御装置
JP5552564B1 (ja) 多軸ロボットの動力遮断装置及び多軸ロボット
JP5260718B2 (ja) 産業用ロボットの可動部の回転軸に接続されたサーボモータを駆動するサーボモータ駆動装置
JP4847597B2 (ja) 電源回生動作モードの切替機能を有するモータ駆動装置
JP4893251B2 (ja) マトリクスコンバータおよびそれを備えた装置
US11128252B2 (en) Motor drive device
CN102739129A (zh) 可连接直流交流变换装置的电动机驱动控制装置
US20130345837A1 (en) Master device that changes data communication speed in accordance with the number of slave devices
KR101292683B1 (ko) 제어 장치 및 제어 방법
JP2010142066A (ja) ロボット
US20140056338A1 (en) Data communication device that carries out serial communication in order to control motor
CN102185557A (zh) 一种单相感应电机调速控制系统
JP5129363B2 (ja) モータ制御装置
JP2009225581A (ja) 電力変換装置
JP7224228B2 (ja) モータ駆動装置及びサーボｄｃ給電システム
JP2018152930A (ja) 漏れ電流の発生を判定するモータ駆動装置
CN201947218U (zh) 一种单相感应电机调速控制系统
JPWO2014167648A1 (ja) 駆動装置
CN114600360A (zh) 转换器及电动机控制系统
JP2007159213A (ja) サーボモータ制御装置